Summary: Operating a Large Fleet of Mobile Robots
using the Plan­Merging Paradigm \Lambda
R. Alami, S. Fleury, M. Herrb, F. Ingrand, S. Qutub y
LAAS­CNRS
7, Avenue du Colonel Roche, 31077 Toulouse CEDEX 04
E­mail: frachid,sara,matthieu,felix,samg@laas.fr
Abstract
We present and discuss the use of a generic
scheme for multi­robot cooperation called the
``Plan­Merging Paradigm'' for managing a large
fleet of autonomous mobile robots.
Each robot, autonomously and incrementally
builds and executes its own plans taking into ac­
count the multi­robot context obtained by col­
lecting the current plans and goals of the other
robots.
We describe the overall system architecture
and discuss the properties of our coopera­
tive scheme. We show how the Plan­Merging
Paradigm (PMP) can be used in a hierarchical